diff --git a/libexec/rc/rc.conf b/libexec/rc/rc.conf
--- a/libexec/rc/rc.conf
+++ b/libexec/rc/rc.conf
@@ -77,6 +77,8 @@
 zfs_bootonce_activate="NO" # Set YES to make successful bootonce BE permanent
 zpool_reguid=""		# Set to zpools for which the GUID should be replaced
 			# upon first boot.
+zpool_upgrade=""	# Set to zpools for which the version should be upgraded
+			# upon first boot.
 
 # ZFSD support
 zfsd_enable="NO"	# Set to YES to automatically start the ZFS fault
diff --git a/libexec/rc/rc.d/Makefile b/libexec/rc/rc.d/Makefile
--- a/libexec/rc/rc.d/Makefile
+++ b/libexec/rc/rc.d/Makefile
@@ -328,6 +328,7 @@
 ZFS+=		zfskeys
 ZFS+=		zpool
 ZFS+=		zpoolreguid
+ZFS+=		zpoolupgrade
 ZFS+=		zvol
 ZFSPACKAGE=	rc
 .endif
diff --git a/libexec/rc/rc.d/zpoolupgrade b/libexec/rc/rc.d/zpoolupgrade
new file mode 100755
--- /dev/null
+++ b/libexec/rc/rc.d/zpoolupgrade
@@ -0,0 +1,25 @@
+#!/bin/sh
+
+# PROVIDE: zpoolupgrade
+# REQUIRE: zpool
+# BEFORE: mountcritlocal
+# KEYWORD: firstboot nojail
+
+. /etc/rc.subr
+
+name="zpoolupgrade"
+desc="Upgrade zpool version"
+rcvar="zfs_enable"
+start_cmd="zpoolupgrade_start"
+
+zpoolupgrade_start()
+{
+	local pool
+
+	for pool in ${zpool_upgrade}; do
+		zpool upgrade $pool
+	done
+}
+
+load_rc_config $name
+run_rc_command "$1"
diff --git a/share/man/man5/rc.conf.5 b/share/man/man5/rc.conf.5
--- a/share/man/man5/rc.conf.5
+++ b/share/man/man5/rc.conf.5
@@ -24,7 +24,7 @@
 .\"
 .\" $FreeBSD$
 .\"
-.Dd August 28, 2022
+.Dd November 7, 2022
 .Dt RC.CONF 5
 .Os
 .Sh NAME
@@ -2109,6 +2109,13 @@
 assigned upon first boot.
 This is useful when using a ZFS pool copied from a template, such as a virtual
 machine image.
+.It Va zpool_upgrade
+.Pq Vt str
+A space-separated list of ZFS pool names for which version should be upgraded
+upon first boot.
+This is useful when using a ZFS pool generated by
+.Xr makefs 8
+utility.
 .It Va gptboot_enable
 .Pq Vt bool
 If set to